上海交通大学学报

上海交通大学学报（自然版） ›› 2012, Vol. 46 ›› Issue (09): 1416-1420.

• 自动化技术、计算机技术 • 上一篇    下一篇

吊头激励下的柔索摆系统建模与仿真  

王立权1，许元革1，何宁2，李震1   

  1. （1.哈尔滨工程大学 机电工程学院， 哈尔滨 150001；2．海洋石油工程股份有限公司 海洋工程技术中心， 天津 300451）  
  • 收稿日期:2011-09-27 出版日期:2012-09-28 发布日期:2012-09-28
  • 基金资助:

    国家科技重大专项基金资助项目(2011ZX05027002)

Modeling and Simulation of Flexible Cable Pendulum System Excited by Lifted Object Motion

 WANG  Li-Quan-1, XU  Yuan-Ge-1, HE  Ning-2, LI  Zhen-1   

  1. (1. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China; 2. Offshore Engineering Technology Center, Offshore Oil Engineering Co. Ltd., Tianjin 300451, China)
  • Received:2011-09-27 Online:2012-09-28 Published:2012-09-28

摘要： 根据起重船柔索摆系统的运动特性，将其运动分解成相互独立的吊物摆动分量和吊索波动分量；采用弦振动理论构建了混合初始边界条件下确保存在唯一性的吊索波动数学模型，并利用无条件稳定的隐式差分法解决了其数值解的稳定性问题；采用以球坐标为摆动角的吊物摆动数学模型和叠加原理得到了逼真的柔索摆运动形态.仿真结果表明，所提出的数学模型和算法能够求解出逼真的柔索摆实时运动形态.  

关键词: 柔索摆, 波动方程, 隐式差分法, 叠加原理

Abstract: According to the motion characteristics of flexible cable pendulum, the sling movement of crane vessel was decomposed into rope swing component and rope fluctuations component which are independent mutually. Using string vibration theory, this paper constructed a wire fluctuations mathematics model, which can ensure existence uniqueness under mixed initial boundary conditions. In addition, using unconditional stable hidden type difference method, it resolved the fluctuations equation numerical solutions stability. The life-like wire movement was  obtained by applying a hanging property swing mathematics model in which ball coordinates represent swing angle and the principle of superposition. The simulation results show that the mathematical model and the algorithm proposed in this paper can effectively solve the realistic sling real-time motion.

Key words: flexible cable pendulum, wave equation, implicit difference method, superposition principle

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